CN105863351A - Autonomous parking system and method based on intelligent automobile transporters - Google Patents
Autonomous parking system and method based on intelligent automobile transporters Download PDFInfo
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- CN105863351A CN105863351A CN201610364579.9A CN201610364579A CN105863351A CN 105863351 A CN105863351 A CN 105863351A CN 201610364579 A CN201610364579 A CN 201610364579A CN 105863351 A CN105863351 A CN 105863351A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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Abstract
The invention discloses an autonomous parking system and method based on intelligent automobile transporters. The autonomous parking system comprises a vehicle detection area, a parking space detection device, a monitoring center and multiple automobile transporters of different widths and types, wherein the monitoring center is connected with a license plate identification device and a tyre position detection device; the monitoring center receives an automobile storing or extracting command and a password transmitted by a self-service parking terminal, determines an automobile storing or extracting position of a to-be-extracted automobile according to a detection result of a parking space detection device, searches an automobile transporter closest to the to-be-extracted automobile, plans a transportation path according to an optimal path planning method, and transmits automobile information, an electronic map of a parking lot and the transportation path to the corresponding automobile transporter through a communication network; the corresponding automobile transporter based on UWB positioning runs to a position of the to-be-extracted automobile, and lifts and moves the to-be-extracted automobile to the automobile storing or extracting position. The whole process does not need an automobile driver to enter the parking lot to look for a parking space, thereby largely reducing the time and physical power of the automobile driver and the energy source costs.
Description
Technical field
The present invention relates to a kind of autonomous parking system and method based on intelligent automobile carrying implement.
Background technology
Add up according to Traffic Administration Bureau of the Ministry of Public Security, start that private car occurs from China's eighties in last century, to the end of the year 2014, China's machine
Motor-car recoverable amount has reached 2.64 hundred million, wherein 1.54 hundred million, automobile, and still speed with every year on average more than 1,700 ten thousand is quick
Increase.The increase of automobile pollution promotes the development of large parking lot, and since marching toward 21st century, our large-scale is stopped
Parking lot gets more and more, and the expanding day of parking lot scale, bring a series of problem parked and pick up the car, have become as the world
In the range of the social problem that generally faces of each large-and-medium size cities.
Management system is parked due to its backward technology and method in traditional parking lot, it is impossible to adapt to novel large parking lot, a side
Face is faced with the distance of cruising being gradually increased because finding parking stall when parking, and on the other hand too increasing car owner walks out parking lot
Walking distance, increases the muscle power of car owner, time and energy cost；Meanwhile, the parking stall of large parking lot is numerous and instruction is inadequate
Clearly, boundless and indistinct parking stall causes puzzlement greatly to reverse car seeking.
Accordingly, it is desirable to one brand-new efficient, intelligent, park management system easily.
Summary of the invention
The present invention is to solve the problems referred to above, it is proposed that a kind of autonomous parking system and method based on intelligent automobile carrying implement, this
Invention only needs car owner that car is parked in vehicle at Entrance to wait and take room, and system call is consistent with porch automobile model automobile
Vehicle is carried to vacant parking stall by carrying implement, and automatic parking enters position.Car owner returns the corresponding number-plate number of input when picking up the car and picks up the car
Password can send order of picking up the car, and vehicle is transported back to vehicle by the car carrying machine that system call is consistent with parking stall model from parking stall
Time takes room.This process enters searching parking stall, parking lot without car owner, greatly reduces the time of car owner, muscle power and energy cost.
To achieve these goals, the present invention adopts the following technical scheme that
A kind of autonomous parking system based on intelligent automobile carrying implement, including the vehicle detection region being arranged in parking lot, parking stall
The car carrying machine that detection device, Surveillance center is different with several width models, wherein:
Described vehicle detection region includes that marquis takes parking stall, and marquis takes and is provided with the license plate recognition device of collection license board information on parking stall, sentences
Disconnected vehicle tire location and the vehicle type recognition device of car category and self-help parking terminal；
Described Surveillance center connects license plate recognition device and detects device with tire location, receives depositing of self-help parking terminal transmission simultaneously
Car or pick up the car instruction and password, according to the testing result of stall testing apparatus, determine the bicycle parking position or position of picking up the car waiting to pick up the car
Putting, detection range waits a car carrying machine that is nearest and that be consistent of picking up the car with model on parking stall, according to optimal route planing method,
Planning transport path, gives corresponding automobile by information of vehicles, the electronic chart in parking lot and transport path by communication network transmission
Carrying implement；
Described car carrying machine receives the carrying instruction of Surveillance center, travels at waiting to pick up the car based on UWB location, according to electricity
Sub-map, waiting to pick up the car, it is mobile to bicycle parking position or position of picking up the car to lift.
Further, described tire location detection device is the vehicle cab recognition module being placed in and waiting a side of picking up the car, by shooting head mould
Formula identification is determined.
The car carrying machine of every kind of width model includes several.
Described stall testing apparatus, by wireless or wired by the way of data are uploaded to Surveillance center.Can use RFID,
Infrared detector, magnetic detector, video identification realize multiple parking space detector.
Described self-help parking terminal, including display module, print module, communication module, input module and control main frame, wherein,
Described control main frame receives the bicycle parking of input module input or instruction of picking up the car, and sends an instruction to Surveillance center by communication module,
And send and show to display module with reception password of picking up the car, control print module printing and pick up the car password.
Further, described car carrying machine, including walking mechanism, elevating mechanism, blessing mechanism, electric control unit, in
Centre control unit, charhing unit and load carrier, wherein:
Described load carrier includes about two pieces the first loading ends arranged, the second loading ends, and described first loading end and second holds
Section is supported by elevating mechanism and connects, and the lateral symmetry of the second loading end being positioned at upper end is laid with the blessing accommodating automobile tire
Mechanism；
The end of described first loading end is provided with obstacle avoidance sensor, and the signal of collection is sent to control by described obstacle avoidance sensor
Unit, described first loading end is additionally provided with UWB and positions label, to realize the location to car carrying machine；
Described charhing unit is arranged on the first loading end, including the electric energy memory module being connected to and Wireless charging coil, described
First loading end bottom is provided with walking mechanism；
Described central control unit, connects Surveillance center, builds electronic chart, root according to parking lot road information and actual environment
According to position and the position of car carrying machine of automobile to be taken, determine track route, according to track route and the car carrying machine of planning
Existing speed, calculate the acceleration of car carrying machine, send and make car carrying machine arrive the route information of appointed place and complete
Become the action command of carrying；
Described electric control unit and central control unit communication, receive route information and action command that central control unit sends,
And control walking mechanism, elevating mechanism, clamping device or/and charhing unit carries out corresponding action, it is achieved specify the carrying of automobile.
Described walking mechanism, including four groups of controlled universal wheels, steer motor and driving motor, wherein, described steer motor and driving
Galvanic electricity machine drives rotational angle and the walking of four groups of controlled universal wheels, described steer motor and driving motor with control unit even respectively
Connect, receive control instruction.
Described blessing mechanism includes two guide rails and four groups of telescopic hydraulic bars, and described guide rail is arranged at the two ends of the second loading end, often
Group telescopic hydraulic bar includes two supporting rods, and four groups of telescopic hydraulic bars are symmetricly set in the two ends of guide rail two-by-two, often organize telescopic hydraulic
The outside of bar is provided with hydraulic pushing device, and hydraulic pushing device promotes supporting rod to carry out moving and fixing along guide rail, it is achieved tire
Blessing and fastening.
Described elevating mechanism is hydraulic lift, specifically includes several raise-lower hydraulic bar and hydraulic pumps, described raise-lower hydraulic bar
It is fixed between the first loading end and the second loading end, for adjusting the first loading end and the distance of the second loading end, described hydraulic pressure
Pump connects raise-lower hydraulic bar.
Described electric control unit, including command reception module, electric cabinet, UWB location label and several obstacle avoidance sensors,
Described obstacle avoidance sensor is arranged on the end of the first loading end, and described UWB location label is arranged in the geometry of the first loading end
The heart, described command reception module is arranged in the geometric center lines of the first loading end, receives the acceleration or deceleration of central control unit
Instruction, described electric cabinet controls the steer motor of walking mechanism and drives motor and hydraulic pump.
Self-help parking method based on said system, comprises the following steps:
(1) vehicle is parked in marquis and takes parking stall, adjust tire, make vehicle be parked in appointment position, tire location detection device detection
Tire information, license plate recognition device is automatically identified this car license board information, is parked by self-help parking terminal check, get pick up the car close
Code；
(2) Surveillance center is according to stall testing apparatus collecting vehicle bit stealing information, determines that now distance waits the sky that position of picking up the car is nearest
Remaining parking stall, and this parking stall is set to preemption state, generate simultaneously and wait the position optimal path A to this parking stall that picks up the car, inquire about simultaneously
Distance waits the nearest idle car carrying machine in position of picking up the car, and generates this car carrying machine and picks up the car to time the optimal path B of position；
(3) optimal path A, optimal path B and information of vehicles being sent to described car carrying machine, car carrying machine will be from
Body is placed in seizure condition, according to optimal path B and run to marquis and take parking stall, adjusts position according to tyre position information, clamping,
Praise automobile, automobile is delivered to described vacant parking stall according to optimal path A by automobile；
(4) the pre-status modifier that takies of described vacant parking stall is seizure condition by Surveillance center, by the shape of described car carrying machine
State changes the free time into.
Further, in described step (3), the concrete steps praising automobile include:
(3-1) according to the due acceleration of path computing carrying implement of planning, control it and run to vehicle location to be taken, drive to
Vehicle bottom to be taken；
(3-2) receive information of vehicles to be taken, according to front wheels and rear wheels spacing and the diameter of wheel, adjust the position of telescopic hydraulic bar
And spacing so that it is corresponding with wheel, the data that detect according to correlation photoelectric sensor and range sensor, come flexible liquid
Depression bar position and collapsing length are adjusted, thus realize the clamping to automobile tire；
(3-3) according to the data of range sensor, when the clamping limb obtained and tire distance are 0, clamping limb stopping action is complete
Become clamping；After completing clamping process, adjust the distance between the first loading end and the second loading end, make automobile leave ground.
Self-service method of picking up the car based on said system, comprises the following steps:
A () according to the license plate number of input and password of picking up the car, determines the parking stall, place waiting to pick up the car, determines that parking stall, place takes with marquis
The optimal path D of parking stall, inquires about nearest apart from this parking stall and that width is identical with automobile model car carrying machine, generates simultaneously
This car carrying machine is to the optimal path C of parking stall；
B self is placed in seizure condition by () car carrying machine, according to optimal path C and run to parking stall, place, according to tire
Positional information adjusts position, clamps, praises automobile, by automobile, automobile is delivered to described marquis according to optimal path D and takes parking stall.
The invention have the benefit that
(1) architecture of the present invention and map navigate, and when parking lot structure or parking route change, only need to change
Respective virtual electronic chart, has location navigation simple, the advantage that improvement expenses is few；
(2) optimum path planning is utilized to determine timesaving running route, based on electronic chart, it is ensured that the group of multiple carrying implements
Control accuracy；
(3) car owner returns the corresponding number-plate number of input when picking up the car and can send order of picking up the car, system call automobile with password of picking up the car
Vehicle is transported back from parking stall to vehicle to wait and is taken room by carrying implement.This process enters searching parking stall, parking lot without car owner, reduces greatly
The time of car owner, muscle power and energy cost；Native system uses the mover of some width structures, carries different model respectively
Automobile, improve the reliability of handling process, safety.
Accompanying drawing explanation
Fig. 1 is the system construction drawing of the present invention；
Fig. 2 is the parking lot top view of the present invention；
Fig. 3 is that the vehicle time of the present invention takes room top view；
Fig. 4 is the workflow diagram of parking of the present invention；
Fig. 5 is the workflow diagram of picking up the car of the present invention；
Fig. 6 is the carrying implement perspective view of the present invention；
Fig. 7 is carrying implement the first loading end structural representation of the present invention；
Fig. 8 is carrying implement the second loading end structural representation of the present invention；
Wherein, 101, region, parking stall, 102, vehicle wait and take room, 103, car carrying machine waiting area, 104, car plate knows
Other device, 105, vehicle type recognition device, 106, wait position of picking up the car, 107, vehicle in and out port, 108, car carrying machine gateway,
109, self-help parking terminal；
1, the first loading end；2, the second loading end；3, push cylinder；4, telescopic oil cylinder；5, raise-lower hydraulic bar；6, ten thousand
To wheels；7, wheel side clasped by telescopic hydraulic bar；8, push-and-pull hydraulic stem；9, alignment sensor；10, hydraulic pump；11、
Compression motor；12, central control module；13, set of cells；14, Wireless charging coil；15, electric cabinet；16, safety is anti-
Hit sensor；17, telescopic hydraulic bar；18, guide rail, 20, command information receiving unit；21, photoelectricity opposite type sensor, 22,
Range sensor；
301-308, push cylinder, 601, drive movable motor, 602, steer motor, 6011-6014, universal wheels,
501-504, raise-lower hydraulic bar group.
Detailed description of the invention:
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As it is shown in figure 1, native system includes that ASC administrative service center, license plate recognition device, tire location detect device, parking stall measure
Device, self-help parking terminal, car carrying machine and communicator, ASC administrative service center and license plate recognition device, tire location inspection
Survey device, stall testing apparatus, self-help parking terminal, car carrying machine connect respectively.
Further, ASC administrative service center receives the license board information that license plate recognition device is uploaded, and generates password transmission of picking up the car to certainly
Help terminal of parking；Accept tyre position information, and send to car carrying machine；Accept parking stall occupied information, calculate and send car optimum
Path；Accept car carrying machine occupied information, calculate optimal path of picking up the car.
Further, license plate recognition device is arranged on time and picks up the car a dead ahead, by an image information collecting module, a Car license recognition
Module, a communication module composition, be used for obtaining vehicle license information, utilize wired or wirelessly license board information uploaded
To ASC administrative service center；
Further, tire location detection device uses and is arranged on the vehicle cab recognition module waiting a side of picking up the car, by shooting head mould
Formula identification and lateral coordinatesization are waited the room of taking and are determined tire place coordinate, and transfer data to management clothes by wired form
Business center；
Tire location detection device uses and is arranged on the voltage sensitive sensor detection device waited below position of picking up the car, and is judged by pressure-sensitive signal
Tire location, and transfer data to ASC administrative service center by wired form；
Further, stall testing apparatus use RFID, infrared detector, magnetic detector, video identification realize parking stall
Detector, and by wired or wireless form, data are uploaded to ASC administrative service center；
Further, the function of autonomous parking terminal is by display module, print module, communication module, keyboard, control host groups
Become, it is possible to ASC administrative service center communication, it is achieved the reception of password of picking up the car and transmission, the pick up the car transmission of instruction, password of picking up the car
Print.
Further, the function of car carrying machine is for receiving ASC administrative service center instruction, obstacle detection, automatic running, vehicle with walking machine
Structure is controllable universal wheel, can pivot stud, it is achieved omnibearing ambulation, and when walking turns to, requisite space is few, and mobility is good, uses
Indoor high-precision location technique ultra broadband UWB location, fixes vehicle by the form pinning tire, will by the form lifted
Vehicle is transported, it is possible to automatic parking enters position.
As in figure 2 it is shown, the parking lot that native system is suitable for is Large Underground parking lot, region, parking stall 101, vehicle waits and take room
102, car carrying machine waiting area 103 forms.Parking lot arranges some ultra broadband UWB locating base station, can realize removing automobile
Being accurately positioned of fortune machine；Region, parking stall is single flat face-type structural, and each parking stall is provided with stall testing apparatus；Automobile
Carrying implement waiting area can accommodate the idle waiting of many car carrying machines simultaneously.
As it is shown on figure 3, vehicle is waited takes room by 104,3 tire location detection 105,3, device times of 3 license plate recognition devices
108,1,107,1 car carrying machine gateway of vehicle in and out port, 106,1, position self-help parking terminal 109 of picking up the car is constituted；
Wherein wait the parking stall that position of picking up the car is fixing parking direction.
As shown in Figure 4, the workflow of automatic parking is:
Step 1, parking stall monitoring device detect parking stall occupied information in real time, and data are uploaded to ASC administrative service center storage；
Car is sailed into vehicle and waits and take room by step 2, car owner, and car is moored and picked up the car position, simultaneously adjusting wheel into vacant time by direction as indicated
Tire, waits prompting before coming self-help parking terminal afterwards；
Step 3, it is positioned at and waits the photographic head in a front of picking up the car and capture automobile image, and by the vehicle cab recognition hardware at photographic head rear
Module and Car license recognition hardware module identification license board information, and model data and license board information are uploaded to ASC administrative service center；
Step 4, ASC administrative service center receive license board information, and whether inquiry has vacant parking stall, if without vacant parking stall, then to self-service
Terminal of parking sends " Occupied ", if there being vacant parking stall, then generates password of picking up the car
Password is sent to self-help parking terminal by step 5, data service center, simultaneously by the number-plate number, pick up the car password and car plate
Data inputting temporal binding stores to data base；
Step 6, self-help parking terminal demonstration also print this car number-plate number and password of picking up the car, after user obtains password of picking up the car
Leave；
Step 7, tire location detection device is by pressure-sensitive signal detection four-wheel position, and data are uploaded to ASC administrative service center；
The inquiry of step 8, ASC administrative service center is picked up the car nearest vacant parking stall, position apart from this time, and this parking stall is set to seizure condition,
Generate simultaneously and wait the position optimal path A to this parking stall that picks up the car；
Whether the inquiry of step 9, ASC administrative service center has idle car carrying machine, if it is not, again inquire about after 30s, as
Fruit has idle car carrying machine, then search and pick up the car the nearest car carrying machine in position apart from this time, generate this car carrying machine simultaneously and arrive
This time is picked up the car the optimal path B of position；
Step 10, ASC administrative service center send to car carrying machine and start order, and are sent by optimal path A and optimal path B
To car carrying machine；
Step 11, car carrying machine start, and self is set to seizure condition simultaneously, rely on optimal path A to travel to waiting position of picking up the car；
Step 12, car carrying machine receive tyre position information, fix vehicle, by the shape lifted by the form pinning tire
Vehicle is lifted by formula；
Step 13, car carrying machine rely on optimal path B to travel to formulating parking stall, and self is set to after being put down by automobile idle shape
State, waits for instructions in this parking stall simultaneously.
Task management:
1, carrying implement task type is set: 1, pick up the car, 2, park, 3, idle charging, 4, promptly charge；Task excellent
First level: promptly charging > pick up the car park idle charging；The task of waiting queue, the task high for priority level is excellent
First arrange, the task of same priority, arrange successively according to the task generation time；
2, arranging maximum parallel task number is the carrying implement quantity that current parking facility has, and current task number exceedes maximum parallel
During business number, waiting queue will be put into beyond task；
3, generation task is responsible in task management, sets up task queue, and the status information and priority level according to task sorts.
System reads current task queue every time, arranges vehicle and path for task one by one according to the order sequenced；
4, being set to take by oneself state when carrying implement receives task, oneself state is set to leave unused after completing by task, and in real time
Report oneself state and task type；
Path management:
1, system is that carrying implement calculates optimal path according to task type, and is sent to carrying implement；
2, according to carrying implement real time position, it is judged that whether carrying implement has path conflict, if it has, it is high then to control priority level
Carrying implement first passes through conflict path, and the carrying implement that priority level is low stops, until system issues grant commands before conflict path
Just can continue to move ahead；
3, the path between node is done data analysis, calculate the bicycle parking of average lane holding time and each parking stall and pick up the car mean time
Between, when road holding time passes through the time more than other paths, path planning again；
4, carrying implement runs into obstacle when cannot advance, and if system disturbance in judgement type unknown obstacle, then excludes failure path weight
New planning optimal path.
As it is shown in figure 5, the workflow automatically picked up the car is:
Step 1, car owner return vehicle time and take room, and inputting license plate number and password of picking up the car in self-help parking terminal, transmission is picked up the car
Order；
Step 2, ASC administrative service center receive information, and the number-plate number of inspection car owner's input is the most correct with password of picking up the car, if
Incorrect, then to self-help parking terminal send " number-plate number or code error of picking up the car ", and point out re-enter the number-plate number with
Pick up the car password, if correctly, then read car stowage parking space information, generate this parking stall to vacant time simultaneously and pick up the car the optimum road of position
Footpath C；
Whether the inquiry of step 3, ASC administrative service center has idle car carrying machine, if it is not, again inquire about after 30s, as
Fruit has idle car carrying machine, then search and pick up the car the nearest car carrying machine in position apart from this time, generate this car carrying machine simultaneously and arrive
This time is picked up the car the optimal path D of position；
Step 4, ASC administrative service center send to car carrying machine and start order, and are sent by optimal path C and optimal path D
To car carrying machine；
Step 5, car carrying machine start, and self is set to seizure condition simultaneously, rely on optimal path C to travel to storing cycle
Parking stall；
Step 6, car carrying machine fix vehicle by the form pinning tire, are lifted by vehicle by the form lifted；
Step 7, car carrying machine rely on optimal path D to travel to formulating parking stall, return car carrying machine etc. after being put down by automobile
Wait district, and self is set to idle state.
Preferably, optimal path can select dijkstra's algorithm, and step is as follows:
1, determining that all node set in parking lot are V, its interior joint is intersection, revises also when digital map
Determine；
2, generating shortest path node set S, the initial value of S is path starting point a；Do not determine that the node of shortest path is for collecting
Close U；
3, the node k of selected distance path starting point beeline in set U, and k is joined in set S；
4, with node k as intermediate point, starting point a distance d through node k to next node u is compared1, and without celebrating a festival
Point k is to size d of the distance of next node u2If, d1<d2, then the distance value of node u is revised；
5, repeating 3,4 steps, until having searched for all nodes, the nodal information in S is optimal path.
Further, parking stall localization method: the positional information on parking stall is with parking stall geometric center point as coordinate, at electronic chart
Determine after revising during generation.
Parking space information detect: before it has been noted that stall testing apparatus can use RFID, infrared detector, magnetic detection
The parking space detector that the technology such as device, video identification realizes.Present parking stall measure technology is the most ripe, does not the most do expansion and describes.
Parking management system receives the carrying implement coordinate information of base station feedback, generates coordinate electronically the most in real time
Among figure.The display of electronic chart is divided into administrator interfaces and user interface, and in administrator interfaces, many carrying implements are simultaneously at electricity
Show on sub-map, and show the information of vehicle that each carrying implement delivers；User interface only shows in this access procedure to be made
Carrying implement.
Meanwhile, the obstacle identity in parking lot is divided into three kinds, and one is known fixed barrier, and two is known moving obstacle,
Three is unknown barrier.
Obstacle identity judges, system receives base station and carrying implement detects Obstacle Position, with the known barrier in data base
Position comparison, if position is identical, is then labeled as barrier, if position is different, is then labeled as unknown barrier.
Electronic chart is revised in real time based on environment, and one is the positional information revising mobile carrying implement, and two is to revise carrying implement to run
The unknown barrier detected in journey, system is to unknown barrier record and generates in electronic chart, is simultaneously emitted by warning message,
Prompting staff scene confirms to safeguard.
A kind of intelligent automobile carrying implement, described carrying implement includes vehicle frame, the controlled universal wheels being arranged on described vehicle frame, jig arm
Mechanism and electric control system.Wireless instructions information receiving unit, central control module, battery is also included in described carrying implement
Assembly, wireless charging management assembly, sensor cluster, anticollision monitoring assembly.Described universal wheels, arm mechanism all with
Electric control system connects.Described electric control system and wireless instructions information receiving unit are all with described central control module even
Connect.
Carrying implement navigation mode uses high accuracy digital map navigation mode to navigate, and described high accuracy map is to parking lot by sensor
The collection of road environment information, then generates by the way of modeling.
Controlled universal wheel is four groups eight, by driving motor direct-drive.The direction of controlled universal wheel is controlled by four steer motor,
Described driving motor and steer motor are all by electric control system control, and described electric control system is connected also with central control module
According to central control module instruction action.
Carrying implement is provided with arm mechanism described in four groups, and clamping limb mechanism described in four groups is symmetrically arranged at described vehicle frame both sides.Described folder
Gripping arm mechanism uses controlled hydraulic actuating device, and described hydraulic is by electric control system control.
The surface of clamping limb contact wheel is provided with photoelectricity opposite type sensor 21 and range sensor 22, described photoelectricity opposite type sensor
21 and range sensor 22 be connected with central control module.
Including loading end 1 and loading end 2, and the raise-lower hydraulic bar 5 of connection two loading ends, it is arranged on described loading end 1
Universal wheels 6, raise-lower hydraulic bar 5, electric cabinet 15, wireless charging mutual inductor 14, set of cells 13, alignment sensor 9,
Hydraulic pump 10, compression motor 11, central control module 12, anticollision sensor 16, command information receiving unit 20,
It is arranged on the push cylinder 3 on described loading end 2, telescopic oil cylinder 4, push-and-pull hydraulic stem 8, guide rail 18 and is arranged on flexible
Telescopic hydraulic bar 17 on oil cylinder.The present invention is by arranging Wireless charging coil 14 on loading end 1, and parking lot coordinates can
Realizing carrying implement non-stop run, especially in parking peak period, carrying implement electricity deficiency will largely effect on parking efficiency.
Existing AGV carrying implement air navigation aid all uses the following method that is similar to: according to the sensor being arranged on carrying implement and ground
Carrying implement is navigated by the medium on face.The breakage of ground medium or have dirt and will largely effect on navigation accuracy.
The present invention uses indoor high-precision location technique ultra broadband UWB location, through optimized algorithm and data process can reach 5cm with
Interior positioning precision.The alignment sensor of intelligence carrying implement of the present invention is arranged on the geometric center point of loading end 1, according to parking
The actual scale in field arranges some locating base station, can realize being accurately positioned carrying implement real time position, further according to parking lot road
The high-precision electronic map that information and actual environment build, and to the operating path of carrying implement planning and existing speed, can calculate
The due acceleration of carrying implement such that it is able to realize carrying implement autonomous operation to specifying parking stall.Described high accuracy map and location
Information is stored in managing system of car parking server, and carrying implement only needs to receive acceleration or deceleration instruction by command reception assembly 20 and holds
Row corresponding actions.
As shown in Figure 6, Figure 7, according to the above embodiments of the present invention, described universal wheels 6 include drive movable motor 601,
Steer motor 602, it is preferable that described steer motor 602 uses motor to realize accurately turning to.Described universal wheels 6
Including 6011,6012,6013,6,014 4 sets, wherein 6011,6014 bottom, one end being located at described loading end 1 side by side,
6012,6013 other end bottom being located at loading end 1 side by side.
As shown in Figure 8, according to the above embodiments of the present invention, described electric cabinet 15, Wireless charging coil 14, set of cells 13,
Alignment sensor 9, hydraulic pump 10, compression motor 11, central control module 12, command reception assembly 20 are sequentially arranged at described
In the geometric center lines of loading end 1, described anticollision sensor 16 is located at the position, four angles of described loading end 1.Described liter
Descending liquid depression bar 5 includes 501,502,503,504 4 groups, wherein 501,504 one end being located at described loading end 1 side by side
Top, 502,503 are located at the other end bottom of loading end 1 side by side.
UWB location label is used for receiving pulse, it is achieved the location to carrying implement geometric center point；Obstacle avoidance sensor can with infrared,
Radar, ultrasound wave etc., the carrying implement distance away from barrier in the detection carrying implement direction of motion；Command reception sensor is used for receiving
The control command that managing system of car parking sends over, and send the central control module in carrying implement to, carrying implement is according to relevant
Instruction performs relevant action.
Hydraulic system has only to a compression motor 11, this reduces the total quantity of the motor of whole carrying implement, improves carrying
Machine reliability of operation.
Carrying implement runs to the process between No. 3 parking stalls and No. 10 parking stalls in side, No. 7 parking stalls, first according to parking
Carrying implement is accurately positioned by the alignment system in Chang, calculates the distance of carrying implement position to corner a, sends out to carrying implement afterwards
Sending travel commands, make carrying implement run, run to corner a at carrying implement, parking lot alignment system is to carrying implement
Carry out real-time positioning and calculate the due acceleration of carrying implement and send to carrying implement, to adjust the carrying implement speed of service in real time.
After running to a of turning, in universal wheels 6, four groups of universal wheels rotate simultaneously, and the most universal wheels 6011,6013 pass through
Motor dextrorotation turn 90 degrees, universal wheels 6012,6014 90-degree rotation counterclockwise.After rotation completes, carrying implement
Laterally run between No. 3 parking stalls and No. 10 parking stalls by above-mentioned steps.Carry during carrying implement whole service
Face does not rotates, and only rotates to change carrying implement traffic direction by universal wheel.Wherein parking lot is laterally run and is had a lot of social connections
Degree is according to carrying implement Design of length, and the longitudinally running road width in parking lot is according to carrying implement width design.
Wherein, each parking stall is both provided with the positioner for identifying its length, width, for identifying storing cycle
Approximate location, described positioner can include limit switch, infrared switch or other localizers.
According to the electronic chart built, the mode using Mapinfo to generate, location and electronic chart height is made to overlap, in reality
If engineering has deviation, carry out system debug and coordinate system is modified；Pick up the car carrying implement Path Planning when bicycle parking
According to the shortest path under the premise at anti-collision；Can calculate according to the path planned out and the existing speed of carrying implement should
Some acceleration, in electronic chart, carrying implement is only along X-axis and two traffic directions of Y-axis.
Carrying implement and optional position go out the process picked up the car, the entrance first detected according to managing system of car parking server to entrance
The position of vehicle tyre, place, diameter, the data of spacing between two front-wheels and two trailing wheels, carrying implement is running to porch
During adjust push-and-pull hydraulic stem 8 and telescopic hydraulic bar 17 so that often the spacing between set arm mechanism is corresponding slightly larger than tire
The width of height so that the distances of the 2 set telescopic hydraulic rod end points being symmetrically arranged at loading end 2 be slightly less than two front-wheels and two trailing wheels it
Between spacing.Now carrying implement pierces automobile lower, and makes arm mechanism be directed at each automobile tire, now, flexible liquid
Depression bar 17 is according to the protruding corresponding length of tyre width data, and then, automobile tire is clamped by push-and-pull hydraulic stem action,
Photoelectricity opposite type sensor 21 and range sensor 22 according to telescopic hydraulic bar surface 7 obtain data and adjust push-and-pull hydraulic stem 8
With the action of telescopic hydraulic bar 17, when the distance that range sensor 22 obtains is 0, i.e. complete clamping.Clamping process completes
After, raise-lower hydraulic bar action, automobile is lifted disengaging ground, afterwards, carrying implement can be by above-mentioned walking process carrier vehicle
To specifying position.The process picked up the car then according to the vehicle tyre data stored, adjusts to parking stall running in advance
The position of good jig arm, the purpose quickly picked up the car with realization.This adjusts the method for jig arm position in advance and uses photoelectricity opposite type sensor
21 and the method for range sensor 22 be greatly improved the fastness clamping automobile in the efficiency of Transport Vehicle and handling process, it is possible to
The problem that the automobile solved in prior art on carrying implement occurs to break away.When automobile is clamped suitable, it is possible to practical situation carries
The high carrying implement speed of service, thus shorten the time of Transport Vehicle.
Carrying implement provided by the present invention is in running, and corner, ground, porch is provided with Wireless charging coil, carrying
Carrying implement can be charged by machine running when these position short stays, to prevent occurrence in peak period carrying implement electricity not
The situation of foot, if still can not meet electricity needs, can arrange the quantity of wireless inductance coil according to actual needs.
Preferably, anticollision detection components of the present invention is infrared ray sensor, and detection carrying implement is to carrying implement traffic direction
The distance of upper barrier, judges whether to collide according to the existing speed of carrying implement and acceleration, and then carrying implement is driven electricity
Machine sends corresponding instruction, and this instruction priority instruction above all.
Wireless charging coil and set of cells are located at bottom carrying implement.
Although the detailed description of the invention of the present invention is described by the above-mentioned accompanying drawing that combines, but not limit to scope
System, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art need not pay
Go out various amendments or deformation that creative work can make still within protection scope of the present invention.
Claims (10)
1. an autonomous parking system based on intelligent automobile carrying implement, is characterized in that: include the vehicle inspection being arranged in parking lot
Survey the car carrying machine that region, stall testing apparatus, Surveillance center are different with several width models, wherein:
Described vehicle detection region includes that marquis takes parking stall, and marquis takes and is provided with the license plate recognition device of collection license board information on parking stall, sentences
Disconnected vehicle tire location and the vehicle type recognition device of car category and self-help parking terminal；
Described Surveillance center connects license plate recognition device and detects device with tire location, receives depositing of self-help parking terminal transmission simultaneously
Car or pick up the car instruction and password, according to the testing result of stall testing apparatus, determine the bicycle parking position or position of picking up the car waiting to pick up the car
Putting, detection range waits a car carrying machine that is nearest and that be consistent of picking up the car with model on parking stall, according to optimal route planing method,
Planning transport path, gives corresponding automobile by information of vehicles, the electronic chart in parking lot and transport path by communication network transmission
Carrying implement；
Described car carrying machine receives the carrying instruction of Surveillance center, travels at waiting to pick up the car based on UWB location, according to electricity
Sub-map, waiting to pick up the car, it is mobile to bicycle parking position or position of picking up the car to lift.
A kind of autonomous parking system based on intelligent automobile carrying implement, is characterized in that: described tire
Position detecting device is to be placed in wait position voltage sensitive sensor below ground of picking up the car, and judges vehicle tire location by pressure.
A kind of autonomous parking system based on intelligent automobile carrying implement, is characterized in that: described self-service
Park terminal, including display module, print module, communication module, input module and control main frame, wherein, described control main
Machine receives the bicycle parking of input module input or instruction of picking up the car, and sends an instruction to Surveillance center by communication module, and sends and connect
Collect car password to show to display module, control print module and print password of picking up the car.
A kind of autonomous parking system based on intelligent automobile carrying implement, is characterized in that: described automobile
Carrying implement, including walking mechanism, elevating mechanism, blessing mechanism, electric control unit, central control unit, charhing unit and
Load carrier, wherein:
Described load carrier includes about two pieces the first loading ends arranged, the second loading ends, and described first loading end and second holds
Section is supported by elevating mechanism and connects, and the lateral symmetry of the second loading end being positioned at upper end is laid with the blessing accommodating automobile tire
Mechanism；
The end of described first loading end is provided with obstacle avoidance sensor, and the signal of collection is sent to control by described obstacle avoidance sensor
Unit, described first loading end is additionally provided with UWB and positions label, to realize the location to car carrying machine；
Described charhing unit is arranged on the first loading end, including the electric energy memory module being connected to and Wireless charging coil, described
First loading end bottom is provided with walking mechanism；
Described central control unit, connects Surveillance center, builds electronic chart, root according to parking lot road information and actual environment
According to position and the position of car carrying machine of automobile to be taken, determine track route, according to track route and the car carrying machine of planning
Existing speed, calculate the acceleration of car carrying machine, send and make car carrying machine arrive the route information of appointed place and complete
Become the action command of carrying；
Described electric control unit and central control unit communication, receive route information and action command that central control unit sends,
And control walking mechanism, elevating mechanism, clamping device or/and charhing unit carries out corresponding action, it is achieved specify the carrying of automobile.
A kind of autonomous parking system based on intelligent automobile carrying implement, is characterized in that: described walking
Mechanism, including four groups of controlled universal wheels, steer motor and driving motor, wherein, described steer motor and driving motor drive respectively
The rotational angle of dynamic four groups of controlled universal wheels and walking, described steer motor and driving motor are connected with control unit, receive and control
Instruction.
A kind of autonomous parking system based on intelligent automobile carrying implement, is characterized in that: described blessing
Mechanism includes two guide rails and four groups of telescopic hydraulic bars, and described guide rail is arranged at the two ends of the second loading end, often group telescopic hydraulic bar
Including two supporting rods, four groups of telescopic hydraulic bars are symmetricly set in the two ends of guide rail two-by-two, and often the outside of group telescopic hydraulic bar is arranged
Having hydraulic pushing device, hydraulic pushing device promotes supporting rod to carry out moving and fixing along guide rail, it is achieved the blessing of tire and fastening.
A kind of autonomous parking system based on intelligent automobile carrying implement, is characterized in that: described electrically
Control unit, including command reception module, electric cabinet, UWB location label and several obstacle avoidance sensors, described crashproof sensing
Device is arranged on the end of the first loading end, and described UWB location label is arranged at the geometric center of the first loading end, described instruction
Receiver module is arranged in the geometric center lines of the first loading end, receives the acceleration or deceleration instruction of central control unit, described electricity
Control case controls the steer motor of walking mechanism and drives motor and hydraulic pump.
8. self-help parking method based on said system, is characterized in that: comprise the following steps:
(1) vehicle is parked in marquis and takes parking stall, adjust tire, make vehicle be parked in appointment position, tire location detection device detection
Tire information, license plate recognition device is automatically identified this car license board information, is parked by self-help parking terminal check, get pick up the car close
Code；
(2) Surveillance center is according to stall testing apparatus collecting vehicle bit stealing information, determines that now distance waits the sky that position of picking up the car is nearest
Remaining parking stall, and this parking stall is set to preemption state, generate simultaneously and wait the position optimal path A to this parking stall that picks up the car, inquire about simultaneously
Distance waits the nearest idle car carrying machine in position of picking up the car, and generates this car carrying machine and picks up the car to time the optimal path B of position；
(3) optimal path A, optimal path B and information of vehicles being sent to described car carrying machine, car carrying machine will be from
Body is placed in seizure condition, according to optimal path B and run to marquis and take parking stall, adjusts position according to tyre position information, clamping,
Praise automobile, automobile is delivered to described vacant parking stall according to optimal path A by automobile；
(4) the pre-status modifier that takies of described vacant parking stall is seizure condition by Surveillance center, by the shape of described car carrying machine
State changes the free time into.
9. self-help parking method as claimed in claim 8, is characterized in that: in described step (3), praise the tool of automobile
Body step includes:
(3-1) according to the due acceleration of path computing carrying implement of planning, control it and run to vehicle location to be taken, drive to
Vehicle bottom to be taken；
(3-2) receive information of vehicles to be taken, according to front wheels and rear wheels spacing and the diameter of wheel, adjust the position of telescopic hydraulic bar
And spacing so that it is corresponding with wheel, the data that obtain according to photoelectricity opposite type sensor stretch out telescopic hydraulic bar, go forward side by side one
Step obtains the spacing of data point reuse telescopic hydraulic bar according to range sensor, clamps automobile tire；
(3-3) after completing clamping process, adjust the distance between the first loading end and the second loading end, make automobile leave ground.
10. self-service method of picking up the car based on said system, is characterized in that: comprise the following steps:
A () according to the license plate number of input and password of picking up the car, determines the parking stall, place waiting to pick up the car, determines that parking stall, place takes with marquis
The optimal path D of parking stall, inquires about the car carrying machine nearest apart from this parking stall, generates this car carrying machine to parking stall the most simultaneously
Shortest path C；
B self is placed in seizure condition by () car carrying machine, according to optimal path C and run to parking stall, place, according to tire
Positional information adjusts position, clamps, praises automobile, by automobile, automobile is delivered to described marquis according to optimal path D and takes parking stall.
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